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Hi again!
Thank you for you advice ![]() I was setting throttle mid now properly, trimmed the remote to be 1500 on 50% and set nav_use_midrc_for_althold = 0 ... and went for a test. The copter was holding the altitude now without bigger problems. Good! I went on for some POS_HOLD testing (10 Sats with the Ublox, compas calibratd), but it didn't hold to any point. It started to drift into the last direction and accelerated more and more into that direction with twitching movements ... controlling the direction in this mode wasn't possible. I've checked he magnetic declination, which seems to be right. I guess I have to setup the black box logging on the flip32 and try to understand what happens ... -> Just read the flip32 doesn't have internal flash memory to be used with black box ... ![]() But the testing is real fun and I can't wait to see your merge into Boris' Beta Flight project ... Cheers, T. |
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Last edited by T69; Sep 07, 2015 at 12:51 PM.
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I used the latest examples from github
set gps_pos_p = 15 set gps_pos_i = 0 set gps_pos_d = 0 set gps_posr_p = 90 set gps_posr_i = 15 set gps_posr_d = 1 set nav_gps_cf = 0.200 set baro_tab_size = 7 set baro_noise_lpf = 0.350 set baro_cf_vel = 0.965 set p_alt = 30 set i_alt = 150 set d_alt = 0 set p_vel = 80 set i_vel = 50 set d_vel = 50 Seems to behave way better than old code! I will provide videos soon! |
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Just a heads up for those that use a beeper
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Mag should be placed as far away of power wiring as possible. Onboard mags are a pain - you have to move the board itself as far from power distribution board, ESCs, battery as possible. |
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Defaults should be fine. If quad is buzzing while ALTHOLD is activated try lowering VEL P a bit.
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I figure you either don't have your compass well calibrated, or don't have it alighed properly. When you point your copter's nose north, you should read heading=0 in cleanflight configurator, east - heading=90, south - 180, west - 270 and that shouldn't change much when you tilt (pitch/roll) the copter. Play around with align_mag CLI variable and see if you can get your compass to work properly first. Cheers! |
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EDIT: I know in betaflight it is possible to disable mag, but I'm not sure if it turns the function off entirely or just disables the particular hardware on the board |
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Last edited by RC Slater; Sep 07, 2015 at 08:21 PM.
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EDIT: you can disable mag completely, neither betaflight nor naw-rewrite has ability to distinguish between onboard mag and external mag as long as they use the same chip. |
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